Object Distribution. The distribution of objects to be gathered in the
operating arena can be modeled in various ways. The most common distribution is
random (fig:rn-foraging), in which objects are scattered uniformly in a
square or circular environment [1]}, [2]}, [3]}, [4]}.
The single source distribution (fig:ss-foraging) has also been
extensively
studied [5]}, [6]}, [7]}, [8]}, [9]}, [10]}. Other
studied distributions include dual source [8]}
(fig:ds-foraging), in which objects are concentrated on either side of the
collection site in a rectangular arena, and power law
(fig:pl-foraging), in which objects are clustered in groups of various
sizes [4]}. When the object distribution is not known or cannot be
inferred a priori, random or power law are appropriate, following
empirical observations [4]}.
<FIGURE>